[1] 刘明辉,顾文锦,陈占伏.基于骨骼服的虚拟人体建模与仿真[J].海军航空工程学院学报,2009,24(2):157-161. Liu Minghui,Gu Wenjin,Chen Zhanfu.Virtual body model's modeling and simulation based on exoskeleton[J].Journal of Naval Aeronautical and Astronautical University,2009,24(2):157-161. [2]付成龙.平面双足机器人的截面映射稳定性判据与应用[D].北京:清华大学精密仪器与机械学系,2006. [3]赵彦峻,徐诚,王亚平,等.人体下肢外骨骼步态分析及仿真[J].系统仿真学报,2007,19(增刊2):261-264. Zhao Yanjun,Xu Cheng,Wang Yaping,et al.An analysis and simulation on gait of lower extremity exoskeleton[J].Journal of System Simulation,2007,19(supplement 2):261-264. [4]高羽翯,张虎,宋遒志.外骨骼助力机器人结构设计及动力学仿真[J].新技术新工艺,2013(5):43-46. Gao Yuhe,Zhang Hu,Song Qiuzhi.Structure design and dynamic simulation of the lower extremity exoskeleton[J].New Technology and New Process,2013(5):43-46. [5]Zoss A,Kazerooni H,Chu A.On the mechanical design of the Berkeley lower extremity exoskeleton(BLEEX)[A].2005 IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Edmonton,Canada:IEEE,2005:3132-3139. [6]绳涛.欠驱动两足机器人控制策略及其应用研究[D].长沙:国防科学技术大学研究生院,2009. [7]Grabiner M D,Troy K L.Attention demanding tasks during treadmill walking reduce step width variability in young adults[J].Neuro Eng Rehabil,2005,2(1):25-27. [8]王险峰,李建平,王辉.基于ZMP的仿人机器人跑步运动模式[J].计算机研究与发展,2013,50(10):2206-2211. Wang Xianfeng,Li Jianping,Wang Hui.A running pattern generation based on ZMP for humanoid robot[J].Journal of Computer Research and Development,2013,50(10):2206-2211. [9]柳宁.双足被动行走器动力学仿真与实验研究[D].北京:清华大学航天航空学院,2009. [10]王嶷然.基于ZMP的双足机器人动态步行控制研究[D].北京:北京工业大学人工智能与机器人研究所,2009.